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Lecture 3

The document discusses the ant colony optimization (ACO) planning technique for robotics. It presents the mathematical model of ACO, including how pheromones are used and updated. It also provides a numerical example of calculating pheromone levels. Finally, it outlines the general ACO algorithm and notes that ACO can find better solutions faster than other techniques but requires more parameters.

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abdala sabry
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78 views49 pages

Lecture 3

The document discusses the ant colony optimization (ACO) planning technique for robotics. It presents the mathematical model of ACO, including how pheromones are used and updated. It also provides a numerical example of calculating pheromone levels. Finally, it outlines the general ACO algorithm and notes that ACO can find better solutions faster than other techniques but requires more parameters.

Uploaded by

abdala sabry
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Planning Techniques for Robotics

Mahmoud Abdelaal

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Lecture # 3

ACO

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Mathematical Model of ACO

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Mathematical Model of ACO

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Mathematical Model of ACO
• Pheromones

• Pheromones evaporate

• Decision Making

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Mathematical Model of ACO

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Mathematical Model of ACO
• Mathematical model that represent the pheromone

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Mathematical Model of ACO
• Mathematical model that represent the pheromone

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Mathematical Model of ACO
• Mathematical model that represent the pheromone

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Mathematical Model of ACO
• Here, Kth ant move from node I to node j with probability.
• Transition Probability

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

This is how we calculate the pheromone level

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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Numerical Example

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm

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ACO Algorithm
ACO Advantage:
• Provide better solution with fewer iterations.

ACO Limitation:
• Use more parameters.

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Thank you for your attention !

Good Luck !

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